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<div class="title">particle_filter.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/tracking.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/tracker.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/coherence.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/passthrough.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud_changedetector.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> StateT&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">   22</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt;PointInT, StateT&gt;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::tracker_name_</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::search_</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::input_</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::indices_</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">BaseClass</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudState</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudState</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::Ptr PointCloudStatePtr;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::ConstPtr PointCloudStateConstPtr;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a>;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; Coherence &gt; CoherencePtr;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const Coherence &gt; CoherenceConstPtr;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a>;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; CloudCoherence &gt; CloudCoherencePtr;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const CloudCoherence &gt; CloudCoherenceConstPtr;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8ce7078ef8b5535b60056a482d34f909">   53</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8ce7078ef8b5535b60056a482d34f909">ParticleFilterTracker</a> ()</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        : <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a> (1)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a> ()</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a> (1)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a> ()</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a> ()</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a> ()</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a> ()</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a> ()</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a> ()</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a> (0.0)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a> (M_PI / 2.0)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a> (15.0)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">representative_state_</a> ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a> ()</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a> (false)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">motion_</a> ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a> (0.25)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a> ()</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a> ()</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a> ()</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a> ()</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a> ()</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">changed_</a> (false)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">change_counter_</a> (0)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a> (10)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a> (10)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a> (0.01)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a> (false)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a> = <span class="stringliteral">&quot;ParticleFilterTracker&quot;</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a48d1b20e1039a3f6bd77d4dc78895f71">setFilterFieldName</a> (<span class="stringliteral">&quot;x&quot;</span>);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a48d1b20e1039a3f6bd77d4dc78895f71">setFilterFieldName</a> (<span class="stringliteral">&quot;y&quot;</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a48d1b20e1039a3f6bd77d4dc78895f71">setFilterFieldName</a> (<span class="stringliteral">&quot;z&quot;</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>.<a class="code" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>.<a class="code" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>.<a class="code" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">   96</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">setIterationNum</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> iteration_num) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a> = iteration_num; }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3f1a4f9cc89869b43cd0d89d2dd173a8">  100</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3f1a4f9cc89869b43cd0d89d2dd173a8">getIterationNum</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a>; }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">  106</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">setParticleNum</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> particle_num) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a> = particle_num; }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a092e8a0db817997363b7d85010279a22">  110</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a092e8a0db817997363b7d85010279a22">getParticleNum</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a>; }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">  116</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">setReferenceCloud</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;ref) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a> = ref; }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">inline</span> PointCloudInConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a68872575f5beac2a716ca7d336fe9f51">  120</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a68872575f5beac2a716ca7d336fe9f51">getReferenceCloud</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a>; }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">  126</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">setCloudCoherence</a> (<span class="keyword">const</span> CloudCoherencePtr &amp;coherence) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a> = coherence; }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">inline</span> CloudCoherencePtr</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58d8f4e3e3c8bf78a0286c00dbb40762">  130</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58d8f4e3e3c8bf78a0286c00dbb40762">getCloudCoherence</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a>; }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">  137</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">setStepNoiseCovariance</a> (<span class="keyword">const</span> std::vector&lt;double&gt; &amp;step_noise_covariance)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a> = step_noise_covariance;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">  146</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">setInitialNoiseCovariance</a> (<span class="keyword">const</span> std::vector&lt;double&gt; &amp;initial_noise_covariance)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a> = initial_noise_covariance;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">  155</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">setInitialNoiseMean</a> (<span class="keyword">const</span> std::vector&lt;double&gt; &amp;initial_noise_mean)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a> = initial_noise_mean;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">  164</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">setResampleLikelihoodThr</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resample_likelihood_thr)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a> = resample_likelihood_thr;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">  175</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">setOcclusionAngleThe</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> occlusion_angle_thr)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a> = occlusion_angle_thr;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">  186</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">setMinIndices</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> min_indices) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a> = min_indices; }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">  191</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">setTrans</a> (<span class="keyword">const</span> Eigen::Affine3f &amp;trans) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a> = trans; }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a532b3b446a3b1cd7bb00d2c79364931c">  194</a></span>&#160;        <span class="keyword">inline</span> Eigen::Affine3f <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a532b3b446a3b1cd7bb00d2c79364931c">getTrans</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a>; }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8e7908d0f758a1a0c9c95c6176323350">  200</a></span>&#160;        <span class="keyword">virtual</span> <span class="keyword">inline</span> StateT <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8e7908d0f758a1a0c9c95c6176323350">getResult</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">representative_state_</a>; }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">  205</a></span>&#160;        Eigen::Affine3f <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">toEigenMatrix</a> (<span class="keyword">const</span> StateT&amp; particle)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordflow">return</span> particle.toEigenMatrix ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a6331afb4c3aac3b6e8e879da36ffb24c">  211</a></span>&#160;        <span class="keyword">inline</span> PointCloudStatePtr <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a6331afb4c3aac3b6e8e879da36ffb24c">getParticles</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a>; }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">  219</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">normalizeParticleWeight</a> (<span class="keywordtype">double</span> w, <span class="keywordtype">double</span> w_min, <span class="keywordtype">double</span> w_max)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">return</span> exp (1.0 - <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a> * (w - w_min) / (w_max - w_min));</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">  227</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">setAlpha</a> (<span class="keywordtype">double</span> alpha) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a> = alpha; }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac38ddabe5cb84e54efb168d68a5c79a6">  230</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac38ddabe5cb84e54efb168d68a5c79a6">getAlpha</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a>; }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">  235</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">setUseNormal</a> (<span class="keywordtype">bool</span> use_normal) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a> = use_normal; }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ada81e277d1399ff54fd6f4679e9380e2">  238</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ada81e277d1399ff54fd6f4679e9380e2">getUseNormal</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a>; }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">  243</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">setUseChangeDetector</a> (<span class="keywordtype">bool</span> use_change_detector) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a> = use_change_detector; }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a099f06a28490b8d421034de6a2fcea14">  246</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a099f06a28490b8d421034de6a2fcea14">getUseChangeDetector</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a>; }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">  251</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">setMotionRatio</a> (<span class="keywordtype">double</span> motion_ratio) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a> = motion_ratio; }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a967f6b60b81099746dd449d21992b2b6">  254</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a967f6b60b81099746dd449d21992b2b6">getMotionRatio</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a>;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">  259</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">setIntervalOfChangeDetection</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> change_detector_interval)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a> = change_detector_interval;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a18820a5db547a429ed98508bfc963bd7">  265</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a18820a5db547a429ed98508bfc963bd7">getIntervalOfChangeDetection</a> ()</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">  273</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">setMinPointsOfChangeDetection</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> change_detector_filter)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a> = change_detector_filter;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">  281</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">setResolutionOfChangeDetection</a> (<span class="keywordtype">double</span> resolution) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a> = resolution; }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac1e9ca99cc7b0c9f7d7acada7c1091f6">  284</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac1e9ca99cc7b0c9f7d7acada7c1091f6">getResolutionOfChangeDetection</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a>; }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#adf18bbfbcd9d29089441bb7cbe6aa1fa">  287</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#adf18bbfbcd9d29089441bb7cbe6aa1fa">getMinPointsOfChangeDetection</a> ()</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1b4cbb515ab39e10f50454d5b356e9d8">  294</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1b4cbb515ab39e10f50454d5b356e9d8">getFitRatio</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">fit_ratio_</a>; }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        </div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8409419393c02fab945ee33f80cf8f6d">  297</a></span>&#160;        <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8409419393c02fab945ee33f80cf8f6d">resetTracking</a> ()</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a>)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;            <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a>-&gt;points.clear ();</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">calcBoundingBox</a> (<span class="keywordtype">double</span> &amp;x_min, <span class="keywordtype">double</span> &amp;x_max,</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                              <span class="keywordtype">double</span> &amp;y_min, <span class="keywordtype">double</span> &amp;y_max,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                              <span class="keywordtype">double</span> &amp;z_min, <span class="keywordtype">double</span> &amp;z_max);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">cropInputPointCloud</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud, PointCloudIn &amp;output);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                                  </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">computeTransformedPointCloud</a> (<span class="keyword">const</span> StateT&amp; hypothesis,</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                                           std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                                           PointCloudIn &amp;cloud);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">computeTransformedPointCloudWithNormal</a> (<span class="keyword">const</span> StateT&amp; hypothesis,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                                                     std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                                                     PointCloudIn &amp;cloud);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">computeTransformedPointCloudWithoutNormal</a> (<span class="keyword">const</span> StateT&amp; hypothesis,</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                                                        PointCloudIn &amp;cloud);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a61ee2780a57df3d7d87085606309feeb">initCompute</a> ();</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad5216bb01bcafb20f97c2a565ce9a011">weight</a> ();</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8b789067da944454bdc620eb8b389283">resample</a> ();</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad397829c9e788bf8ed30dc7039446406">update</a> ();</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af785806003a8c30f7d98846697149420">normalizeWeight</a> ();</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1f7cd991aa9d0996281cdbf2deadc500">initParticles</a> (<span class="keywordtype">bool</span> reset);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3413d607ca8cdcc30f23d06cd4af0088">computeTracking</a> ();</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">sampleWithReplacement</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; a, <span class="keyword">const</span> std::vector&lt;double&gt;&amp; q);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a10ada9076b703e6dde51319aea6bac59">genAliasTable</a> (std::vector&lt;int&gt; &amp;a, std::vector&lt;double&gt; &amp;q, <span class="keyword">const</span> PointCloudStateConstPtr &amp;particles);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a57bef62582b9834b0357f8febb424ba3">resampleWithReplacement</a> ();</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab507151b720700eb630346dc7f565a9c">  406</a></span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab507151b720700eb630346dc7f565a9c">resampleDeterministic</a> ();</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">testChangeDetection</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;input);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        </div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">  415</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a>;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">  418</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a>;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">  421</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a>;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    </div>
<div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">  424</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">fit_ratio_</a>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">  427</a></span>&#160;        PointCloudInConstPtr <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a>;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">  430</a></span>&#160;        PointCloudStatePtr <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">  433</a></span>&#160;        CloudCoherencePtr <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">  438</a></span>&#160;        std::vector&lt;double&gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">  443</a></span>&#160;        std::vector&lt;double&gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a>;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        </div>
<div class="line"><a name="l00446"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">  446</a></span>&#160;        std::vector&lt;double&gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a>;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">  449</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a>;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">  452</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">  455</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a>;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        </div>
<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">  458</a></span>&#160;        StateT <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">representative_state_</a>;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">  461</a></span>&#160;        Eigen::Affine3f <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a>;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">  464</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a>;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">  467</a></span>&#160;        StateT <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">motion_</a>;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">  470</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a>;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">  473</a></span>&#160;        <a class="code" href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">  475</a></span>&#160;        <a class="code" href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>;</div>
<div class="line"><a name="l00477"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">  477</a></span>&#160;        <a class="code" href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">  480</a></span>&#160;        std::vector&lt;PointCloudInPtr&gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">  483</a></span>&#160;        boost::shared_ptr&lt;pcl::octree::OctreePointCloudChangeDetector&lt;PointInT&gt; &gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a>;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">  486</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">changed_</a>;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">  489</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">change_counter_</a>;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        </div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">  492</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a>;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">  495</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">  498</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a>;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        </div>
<div class="line"><a name="l00501"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">  501</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a>;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    };</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  }</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="comment">// #include &lt;pcl/tracking/impl/particle_filter.hpp&gt;</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/impl/particle_filter.hpp&gt;</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a21eb00357056c0cc432cd03afa84d08c"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">pcl::FilterIndices::setKeepOrganized</a></div><div class="ttdeci">void setKeepOrganized(bool keep_organized)</div><div class="ttdoc">Set whether the filtered points should be kept and set to the value given through setUserFilterValue ...</div><div class="ttdef"><b>Definition:</b> filter_indices.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html"><div class="ttname"><a href="classpcl_1_1_pass_through.html">pcl::PassThrough&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html_a48d1b20e1039a3f6bd77d4dc78895f71"><div class="ttname"><a href="classpcl_1_1_pass_through.html#a48d1b20e1039a3f6bd77d4dc78895f71">pcl::PassThrough::setFilterFieldName</a></div><div class="ttdeci">void setFilterFieldName(const std::string &amp;field_name)</div><div class="ttdoc">Provide the name of the field to be used for filtering data.</div><div class="ttdef"><b>Definition:</b> passthrough.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a></div><div class="ttdoc">ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a0467f76d2da15f76e31a410cfbfc5e91"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">pcl::tracking::ParticleFilterTracker::setResampleLikelihoodThr</a></div><div class="ttdeci">void setResampleLikelihoodThr(const double resample_likelihood_thr)</div><div class="ttdoc">Set the threshold to re-initialize the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a092e8a0db817997363b7d85010279a22"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a092e8a0db817997363b7d85010279a22">pcl::tracking::ParticleFilterTracker::getParticleNum</a></div><div class="ttdeci">int getParticleNum() const</div><div class="ttdoc">Get the number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a099f06a28490b8d421034de6a2fcea14"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a099f06a28490b8d421034de6a2fcea14">pcl::tracking::ParticleFilterTracker::getUseChangeDetector</a></div><div class="ttdeci">bool getUseChangeDetector()</div><div class="ttdoc">Get the value of use_change_detector_.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a10ada9076b703e6dde51319aea6bac59"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a10ada9076b703e6dde51319aea6bac59">pcl::tracking::ParticleFilterTracker::genAliasTable</a></div><div class="ttdeci">void genAliasTable(std::vector&lt; int &gt; &amp;a, std::vector&lt; double &gt; &amp;q, const PointCloudStateConstPtr &amp;particles)</div><div class="ttdoc">Generate the tables for walker's alias method.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a18820a5db547a429ed98508bfc963bd7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a18820a5db547a429ed98508bfc963bd7">pcl::tracking::ParticleFilterTracker::getIntervalOfChangeDetection</a></div><div class="ttdeci">unsigned int getIntervalOfChangeDetection()</div><div class="ttdoc">Get the number of interval frames to run change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1aba95f8a1e5781e13c445adc1fdc603"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">pcl::tracking::ParticleFilterTracker::iteration_num_</a></div><div class="ttdeci">int iteration_num_</div><div class="ttdoc">The number of iteration of particlefilter.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1b4cbb515ab39e10f50454d5b356e9d8"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1b4cbb515ab39e10f50454d5b356e9d8">pcl::tracking::ParticleFilterTracker::getFitRatio</a></div><div class="ttdeci">double getFitRatio() const</div><div class="ttdoc">Get the adjustment ratio.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:294</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1cdc70977f26bcd2446de0bff0633a90"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">pcl::tracking::ParticleFilterTracker::motion_ratio_</a></div><div class="ttdeci">double motion_ratio_</div><div class="ttdoc">Ratio of hypothesis to use motion model.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:470</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1db96caa50c71c128263ea9f2ecf9fff"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">pcl::tracking::ParticleFilterTracker::calcBoundingBox</a></div><div class="ttdeci">void calcBoundingBox(double &amp;x_min, double &amp;x_max, double &amp;y_min, double &amp;y_max, double &amp;z_min, double &amp;z_max)</div><div class="ttdoc">Compute the parameters for the bounding box of hypothesis pointclouds.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1f7cd991aa9d0996281cdbf2deadc500"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1f7cd991aa9d0996281cdbf2deadc500">pcl::tracking::ParticleFilterTracker::initParticles</a></div><div class="ttdeci">void initParticles(bool reset)</div><div class="ttdoc">Initialize the particles. initial_noise_covariance_ and initial_noise_mean_ are used for Gaussian sam...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a24e39d2742fd388e032ea0589c9671a6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">pcl::tracking::ParticleFilterTracker::coherence_</a></div><div class="ttdeci">CloudCoherencePtr coherence_</div><div class="ttdoc">A pointer to PointCloudCoherence.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:433</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a2b54d7532eb15ef2ea0d30e1eb106c65"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">pcl::tracking::ParticleFilterTracker::sampleWithReplacement</a></div><div class="ttdeci">int sampleWithReplacement(const std::vector&lt; int &gt; &amp;a, const std::vector&lt; double &gt; &amp;q)</div><div class="ttdoc">Implementation of &quot;sample with replacement&quot; using Walker's alias method. about Walker's alias method,...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a2d45b7b6678ece3d60434735869b2537"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">pcl::tracking::ParticleFilterTracker::setUseChangeDetector</a></div><div class="ttdeci">void setUseChangeDetector(bool use_change_detector)</div><div class="ttdoc">Set the value of use_change_detector_.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a2e0fb653373436035e2984ee76255500"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">pcl::tracking::ParticleFilterTracker::computeTransformedPointCloud</a></div><div class="ttdeci">void computeTransformedPointCloud(const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, PointCloudIn &amp;cloud)</div><div class="ttdoc">Compute a reference pointcloud transformed to the pose that hypothesis represents.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:276</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a3413d607ca8cdcc30f23d06cd4af0088"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3413d607ca8cdcc30f23d06cd4af0088">pcl::tracking::ParticleFilterTracker::computeTracking</a></div><div class="ttdeci">virtual void computeTracking()</div><div class="ttdoc">Track the pointcloud using particle filter method.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:386</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a3f1a4f9cc89869b43cd0d89d2dd173a8"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3f1a4f9cc89869b43cd0d89d2dd173a8">pcl::tracking::ParticleFilterTracker::getIterationNum</a></div><div class="ttdeci">int getIterationNum() const</div><div class="ttdoc">Get the number of iteration.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a401abe3b0fd3b25b508820e3d17cd47d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">pcl::tracking::ParticleFilterTracker::testChangeDetection</a></div><div class="ttdeci">bool testChangeDetection(const PointCloudInConstPtr &amp;input)</div><div class="ttdoc">Run change detection and return true if there is a change.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:220</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a409c2293448b36cf135dc8177cab8f29"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">pcl::tracking::ParticleFilterTracker::ref_</a></div><div class="ttdeci">PointCloudInConstPtr ref_</div><div class="ttdoc">A pointer to reference point cloud.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:427</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a4247ac126f4abd1ae4592d9c97104588"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">pcl::tracking::ParticleFilterTracker::setMinPointsOfChangeDetection</a></div><div class="ttdeci">void setMinPointsOfChangeDetection(unsigned int change_detector_filter)</div><div class="ttdoc">Set the minimum amount of points required within leaf node to become serialized in change detection</div><div class="ttdef"><b>Definition:</b> particle_filter.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a4cae829ec11e98fecceca689ab604919"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">pcl::tracking::ParticleFilterTracker::setStepNoiseCovariance</a></div><div class="ttdeci">void setStepNoiseCovariance(const std::vector&lt; double &gt; &amp;step_noise_covariance)</div><div class="ttdoc">Set the covariance of step noise.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a532b3b446a3b1cd7bb00d2c79364931c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a532b3b446a3b1cd7bb00d2c79364931c">pcl::tracking::ParticleFilterTracker::getTrans</a></div><div class="ttdeci">Eigen::Affine3f getTrans() const</div><div class="ttdoc">Get the transformation from the world coordinates to the frame of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a55ad536efe1907a540940731c553143a"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">pcl::tracking::ParticleFilterTracker::initial_noise_covariance_</a></div><div class="ttdeci">std::vector&lt; double &gt; initial_noise_covariance_</div><div class="ttdoc">The diagonal elements of covariance matrix of the initial noise. the covariance matrix is used when i...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:443</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a57bef62582b9834b0357f8febb424ba3"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a57bef62582b9834b0357f8febb424ba3">pcl::tracking::ParticleFilterTracker::resampleWithReplacement</a></div><div class="ttdeci">void resampleWithReplacement()</div><div class="ttdoc">Resampling the particle with replacement.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:332</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5882a7652169ac27e88d56f0275ecd99"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">pcl::tracking::ParticleFilterTracker::toEigenMatrix</a></div><div class="ttdeci">Eigen::Affine3f toEigenMatrix(const StateT &amp;particle)</div><div class="ttdoc">Convert a state to affine transformation from the world coordinates frame.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a58ba4599231097e4373589873d62e01e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">pcl::tracking::ParticleFilterTracker::setMinIndices</a></div><div class="ttdeci">void setMinIndices(const int min_indices)</div><div class="ttdoc">Set the minimum number of indices (default: 1). ParticleFilterTracker does not take into account the ...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a58d8f4e3e3c8bf78a0286c00dbb40762"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58d8f4e3e3c8bf78a0286c00dbb40762">pcl::tracking::ParticleFilterTracker::getCloudCoherence</a></div><div class="ttdeci">CloudCoherencePtr getCloudCoherence() const</div><div class="ttdoc">Get the PointCloudCoherence to compute likelihood.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5982b1c4fdd420e90ff7458a5115bf4f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">pcl::tracking::ParticleFilterTracker::changed_</a></div><div class="ttdeci">bool changed_</div><div class="ttdoc">A flag to be true when change of pointclouds is detected.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:486</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5a6bfeb4218fc528b420748cc6749c63"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">pcl::tracking::ParticleFilterTracker::representative_state_</a></div><div class="ttdeci">StateT representative_state_</div><div class="ttdoc">The result of tracking.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:458</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5cdb66e2ad728b386f93b6e73755beaf"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">pcl::tracking::ParticleFilterTracker::change_detector_filter_</a></div><div class="ttdeci">unsigned int change_detector_filter_</div><div class="ttdoc">Minimum points in a leaf when calling change detector. defaults to 10.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:492</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5dfccd2f976ecc538f5b5d1f0cb5e03c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">pcl::tracking::ParticleFilterTracker::setParticleNum</a></div><div class="ttdeci">void setParticleNum(const int particle_num)</div><div class="ttdoc">Set the number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a61ee2780a57df3d7d87085606309feeb"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a61ee2780a57df3d7d87085606309feeb">pcl::tracking::ParticleFilterTracker::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:11</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a6331afb4c3aac3b6e8e879da36ffb24c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a6331afb4c3aac3b6e8e879da36ffb24c">pcl::tracking::ParticleFilterTracker::getParticles</a></div><div class="ttdeci">PointCloudStatePtr getParticles() const</div><div class="ttdoc">Get a pointer to a pointcloud of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a68872575f5beac2a716ca7d336fe9f51"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a68872575f5beac2a716ca7d336fe9f51">pcl::tracking::ParticleFilterTracker::getReferenceCloud</a></div><div class="ttdeci">PointCloudInConstPtr const getReferenceCloud()</div><div class="ttdoc">Get a pointer to a reference dataset to be tracked.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a72ab6b313e05cf2fad8d9a7753ab1bde"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">pcl::tracking::ParticleFilterTracker::change_detector_resolution_</a></div><div class="ttdeci">double change_detector_resolution_</div><div class="ttdoc">Resolution of change detector. defaults to 0.01.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:498</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a757a9ebe6a716af29dcd8efad052730d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">pcl::tracking::ParticleFilterTracker::step_noise_covariance_</a></div><div class="ttdeci">std::vector&lt; double &gt; step_noise_covariance_</div><div class="ttdoc">The diagonal elements of covariance matrix of the step noise. the covariance matrix is used at every ...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:438</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a76c3534fd0d41e345f878add5d131bae"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pcl::tracking::ParticleFilterTracker::pass_z_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_z_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:477</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a77e74db175dd2a36b6156b1905dc0749"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">pcl::tracking::ParticleFilterTracker::setResolutionOfChangeDetection</a></div><div class="ttdeci">void setResolutionOfChangeDetection(double resolution)</div><div class="ttdoc">Set the resolution of change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a782c4931b7472dbb7e4f9f5fe92a9833"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">pcl::tracking::ParticleFilterTracker::setCloudCoherence</a></div><div class="ttdeci">void setCloudCoherence(const CloudCoherencePtr &amp;coherence)</div><div class="ttdoc">Set the PointCloudCoherence as likelihood.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a7e73b9293c4369d0768342ee976e1f3d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">pcl::tracking::ParticleFilterTracker::computeTransformedPointCloudWithNormal</a></div><div class="ttdeci">void computeTransformedPointCloudWithNormal(const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, PointCloudIn &amp;cloud)</div><div class="ttdoc">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indic...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:295</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a82b8125f2a37f31b93844a9b49544eef"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">pcl::tracking::ParticleFilterTracker::transed_reference_vector_</a></div><div class="ttdeci">std::vector&lt; PointCloudInPtr &gt; transed_reference_vector_</div><div class="ttdoc">A list of the pointers to pointclouds.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8409419393c02fab945ee33f80cf8f6d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8409419393c02fab945ee33f80cf8f6d">pcl::tracking::ParticleFilterTracker::resetTracking</a></div><div class="ttdeci">virtual void resetTracking()</div><div class="ttdoc">Reset the particles to restart tracking</div><div class="ttdef"><b>Definition:</b> particle_filter.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a85913614c3446c49ad88393427143877"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">pcl::tracking::ParticleFilterTracker::computeTransformedPointCloudWithoutNormal</a></div><div class="ttdeci">void computeTransformedPointCloudWithoutNormal(const StateT &amp;hypothesis, PointCloudIn &amp;cloud)</div><div class="ttdoc">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indic...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:286</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8621428eed66d16e2283eecdede16ec9"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">pcl::tracking::ParticleFilterTracker::setUseNormal</a></div><div class="ttdeci">void setUseNormal(bool use_normal)</div><div class="ttdoc">Set the value of use_normal_.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8b789067da944454bdc620eb8b389283"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8b789067da944454bdc620eb8b389283">pcl::tracking::ParticleFilterTracker::resample</a></div><div class="ttdeci">virtual void resample()</div><div class="ttdoc">Resampling phase of particle filter method. Sampling the particles according to the weights calculate...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:326</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8be1d9bfe84d5b06f5ac06ee02aaed4f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pcl::tracking::ParticleFilterTracker::pass_y_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_y_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8ce7078ef8b5535b60056a482d34f909"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8ce7078ef8b5535b60056a482d34f909">pcl::tracking::ParticleFilterTracker::ParticleFilterTracker</a></div><div class="ttdeci">ParticleFilterTracker()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8e7908d0f758a1a0c9c95c6176323350"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8e7908d0f758a1a0c9c95c6176323350">pcl::tracking::ParticleFilterTracker::getResult</a></div><div class="ttdeci">virtual StateT getResult() const</div><div class="ttdoc">Get an instance of the result of tracking. This function returns the particle that represents the tra...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a91f86c1703de285ca01c44beacf4aa1f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">pcl::tracking::ParticleFilterTracker::change_counter_</a></div><div class="ttdeci">unsigned int change_counter_</div><div class="ttdoc">A counter to skip change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:489</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a967f6b60b81099746dd449d21992b2b6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a967f6b60b81099746dd449d21992b2b6">pcl::tracking::ParticleFilterTracker::getMotionRatio</a></div><div class="ttdeci">double getMotionRatio()</div><div class="ttdoc">Get the motion ratio.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:254</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a9a894616f39a231ae134d5c8e2130c5c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">pcl::tracking::ParticleFilterTracker::initial_noise_mean_</a></div><div class="ttdeci">std::vector&lt; double &gt; initial_noise_mean_</div><div class="ttdoc">The mean values of initial noise.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:446</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa2c5f8286b5a3a94e2515bd4484ef855"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">pcl::tracking::ParticleFilterTracker::setIntervalOfChangeDetection</a></div><div class="ttdeci">void setIntervalOfChangeDetection(unsigned int change_detector_interval)</div><div class="ttdoc">Set the number of interval frames to run change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa2de143b5626fb5f59084787ddc9da0c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">pcl::tracking::ParticleFilterTracker::setReferenceCloud</a></div><div class="ttdeci">void setReferenceCloud(const PointCloudInConstPtr &amp;ref)</div><div class="ttdoc">Set a pointer to a reference dataset to be tracked.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa36dfffd21323208f53951e5f2404684"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">pcl::tracking::ParticleFilterTracker::setOcclusionAngleThe</a></div><div class="ttdeci">void setOcclusionAngleThe(const double occlusion_angle_thr)</div><div class="ttdoc">Set the threshold of angle to be considered occlusion (default: pi/2). ParticleFilterTracker does not...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa4c05a9706ae93773af16c3c2321e287"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">pcl::tracking::ParticleFilterTracker::alpha_</a></div><div class="ttdeci">double alpha_</div><div class="ttdoc">The weight to be used in normalization of the weights of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa4c0c88e6eca516339a7bb01a2e10855"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">pcl::tracking::ParticleFilterTracker::setIterationNum</a></div><div class="ttdeci">void setIterationNum(const int iteration_num)</div><div class="ttdoc">Set the number of iteration.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa964174e2cde6a040d259c1a41b49b1e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">pcl::tracking::ParticleFilterTracker::min_indices_</a></div><div class="ttdeci">int min_indices_</div><div class="ttdoc">The minimum number of points which the hypothesis should have.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa9ba7d5f9e0d47cb22eed039e7f0e2d7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">pcl::tracking::ParticleFilterTracker::use_normal_</a></div><div class="ttdeci">bool use_normal_</div><div class="ttdoc">A flag to use normal or not. defaults to false.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:464</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ab2630390687599ddef3854f7ae8fe6f0"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">pcl::tracking::ParticleFilterTracker::cropInputPointCloud</a></div><div class="ttdeci">void cropInputPointCloud(const PointCloudInConstPtr &amp;cloud, PointCloudIn &amp;output)</div><div class="ttdoc">Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:168</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ab507151b720700eb630346dc7f565a9c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab507151b720700eb630346dc7f565a9c">pcl::tracking::ParticleFilterTracker::resampleDeterministic</a></div><div class="ttdeci">void resampleDeterministic()</div><div class="ttdoc">Resampling the particle in deterministic way.</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ab8770718116c4a55f51d1da3c37c9b90"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">pcl::tracking::ParticleFilterTracker::particles_</a></div><div class="ttdeci">PointCloudStatePtr particles_</div><div class="ttdoc">A pointer to the particles</div><div class="ttdef"><b>Definition:</b> particle_filter.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_abaffda09f3641a87d297ba392ebb25df"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">pcl::tracking::ParticleFilterTracker::change_detector_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::octree::OctreePointCloudChangeDetector&lt; PointInT &gt; &gt; change_detector_</div><div class="ttdoc">Change detector used as a trigger to track.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:483</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_abf7b67906ea653c76f098e9b48fc36cd"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">pcl::tracking::ParticleFilterTracker::change_detector_interval_</a></div><div class="ttdeci">unsigned int change_detector_interval_</div><div class="ttdoc">The number of interval frame to run change detection. defaults to 10.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:495</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ac069bd9c4a92dc260f350131d9d1b16c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">pcl::tracking::ParticleFilterTracker::fit_ratio_</a></div><div class="ttdeci">double fit_ratio_</div><div class="ttdoc">Adjustment of the particle filter.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:424</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ac1e9ca99cc7b0c9f7d7acada7c1091f6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac1e9ca99cc7b0c9f7d7acada7c1091f6">pcl::tracking::ParticleFilterTracker::getResolutionOfChangeDetection</a></div><div class="ttdeci">double getResolutionOfChangeDetection()</div><div class="ttdoc">Get the resolution of change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ac38ddabe5cb84e54efb168d68a5c79a6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac38ddabe5cb84e54efb168d68a5c79a6">pcl::tracking::ParticleFilterTracker::getAlpha</a></div><div class="ttdeci">double getAlpha()</div><div class="ttdoc">Get the value of alpha.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ac79b9f51a14315772b8cf194c4a2994f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">pcl::tracking::ParticleFilterTracker::setAlpha</a></div><div class="ttdeci">void setAlpha(double alpha)</div><div class="ttdoc">Set the value of alpha.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad0219863e21ccf578f3d71b6d0189e0b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">pcl::tracking::ParticleFilterTracker::normalizeParticleWeight</a></div><div class="ttdeci">double normalizeParticleWeight(double w, double w_min, double w_max)</div><div class="ttdoc">Normalize the weight of a particle using</div><div class="ttdef"><b>Definition:</b> particle_filter.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad397829c9e788bf8ed30dc7039446406"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad397829c9e788bf8ed30dc7039446406">pcl::tracking::ParticleFilterTracker::update</a></div><div class="ttdeci">virtual void update()</div><div class="ttdoc">Calculate the weighted mean of the particles and set it as the result.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:370</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad40b58e84468bb1c506b438159cfc851"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">pcl::tracking::ParticleFilterTracker::resample_likelihood_thr_</a></div><div class="ttdeci">double resample_likelihood_thr_</div><div class="ttdoc">The threshold for the particles to be re-initialized.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:449</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad44d8b9caef589f337a57b2c2ef9929e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">pcl::tracking::ParticleFilterTracker::particle_num_</a></div><div class="ttdeci">int particle_num_</div><div class="ttdoc">The number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad5216bb01bcafb20f97c2a565ce9a011"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad5216bb01bcafb20f97c2a565ce9a011">pcl::tracking::ParticleFilterTracker::weight</a></div><div class="ttdeci">virtual void weight()</div><div class="ttdoc">Weighting phase of particle filter method. Calculate the likelihood of all of the particles and set t...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad878fa3e4647d44e087740b4daf71f6c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pcl::tracking::ParticleFilterTracker::pass_x_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_x_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:473</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad924b9f7dd0b261ed03c7770cbd9a3cd"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">pcl::tracking::ParticleFilterTracker::setInitialNoiseMean</a></div><div class="ttdeci">void setInitialNoiseMean(const std::vector&lt; double &gt; &amp;initial_noise_mean)</div><div class="ttdoc">Set the mean of the initial noise. It will be used when initializing the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ada81e277d1399ff54fd6f4679e9380e2"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ada81e277d1399ff54fd6f4679e9380e2">pcl::tracking::ParticleFilterTracker::getUseNormal</a></div><div class="ttdeci">bool getUseNormal()</div><div class="ttdoc">Get the value of use_normal_.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_adf18bbfbcd9d29089441bb7cbe6aa1fa"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#adf18bbfbcd9d29089441bb7cbe6aa1fa">pcl::tracking::ParticleFilterTracker::getMinPointsOfChangeDetection</a></div><div class="ttdeci">unsigned int getMinPointsOfChangeDetection()</div><div class="ttdoc">Get the minimum amount of points required within leaf node to become serialized in change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ae44c837660b89abe2827fdbfd5c2eaa3"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">pcl::tracking::ParticleFilterTracker::motion_</a></div><div class="ttdeci">StateT motion_</div><div class="ttdoc">Difference between the result in t and t-1.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:467</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ae989bacbb8a5e8329a4786f691119b82"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">pcl::tracking::ParticleFilterTracker::use_change_detector_</a></div><div class="ttdeci">bool use_change_detector_</div><div class="ttdoc">The flag which will be true if using change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:501</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af4a20aa937a5c1cbb549eddcf5e83f08"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">pcl::tracking::ParticleFilterTracker::setMotionRatio</a></div><div class="ttdeci">void setMotionRatio(double motion_ratio)</div><div class="ttdoc">Set the motion ratio</div><div class="ttdef"><b>Definition:</b> particle_filter.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af4af95324a9cbc1d8124498c7c5ba045"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">pcl::tracking::ParticleFilterTracker::setInitialNoiseCovariance</a></div><div class="ttdeci">void setInitialNoiseCovariance(const std::vector&lt; double &gt; &amp;initial_noise_covariance)</div><div class="ttdoc">Set the covariance of the initial noise. It will be used when initializing the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af76e21216bd17d671bf54d5638b21bee"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">pcl::tracking::ParticleFilterTracker::trans_</a></div><div class="ttdeci">Eigen::Affine3f trans_</div><div class="ttdoc">An affine transformation from the world coordinates frame to the origin of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:461</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af785806003a8c30f7d98846697149420"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af785806003a8c30f7d98846697149420">pcl::tracking::ParticleFilterTracker::normalizeWeight</a></div><div class="ttdeci">virtual void normalizeWeight()</div><div class="ttdoc">Normalize the weights of all the particels.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:117</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af7ebd48f7499e9528b514d4a302b6d27"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">pcl::tracking::ParticleFilterTracker::occlusion_angle_thr_</a></div><div class="ttdeci">double occlusion_angle_thr_</div><div class="ttdoc">The threshold for the points to be considered as occluded.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:452</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_afe60b5beb228c7f1b5830c8d89e01566"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">pcl::tracking::ParticleFilterTracker::setTrans</a></div><div class="ttdeci">void setTrans(const Eigen::Affine3f &amp;trans)</div><div class="ttdoc">Set the transformation from the world coordinates to the frame of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">pcl::tracking::PointCloudCoherence</a></div><div class="ttdoc">PointCloudCoherence is a base class to compute coherence between the two PointClouds.</div><div class="ttdef"><b>Definition:</b> coherence.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_coherence.html">pcl::tracking::PointCoherence</a></div><div class="ttdoc">PointCoherence is a base class to compute coherence between the two points.</div><div class="ttdef"><b>Definition:</b> coherence.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker</a></div><div class="ttdoc">Tracker represents the base tracker class.</div><div class="ttdef"><b>Definition:</b> tracker.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_aaa1a7a91f381d951cc85c0c7f440f0ce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">pcl::tracking::Tracker::tracker_name_</a></div><div class="ttdeci">std::string tracker_name_</div><div class="ttdoc">The tracker name.</div><div class="ttdef"><b>Definition:</b> tracker.h:92</div></div>
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